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<li class="navelem"><a class="el" href="dir_4368bc2880c6e6eafcc98b06103f4e25.html">Subsystems</a></li>  </ul>
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<div class="title">RobotSubsystem.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef ROBOTSUBSYSTEM_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define ROBOTSUBSYSTEM_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;WPILib.h&quot;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;../Subscriber.hpp&quot;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno"><a class="code" href="class_robot_subsystem.html">   24</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_robot_subsystem.html">RobotSubsystem</a> :</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;        <span class="keyword">public</span> <a class="code" href="class_subscriber.html">Subscriber</a></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;{</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        <span class="comment">// Befriend our robot class so it can call our functions.</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="class_systematic_robot.html">SystematicRobot</a>;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;        </div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;                <a class="code" href="class_robot_subsystem.html#a1da520892f6bc3bec0a8bbbd974a9486">RobotSubsystem</a>();</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;                <span class="keyword">virtual</span> <a class="code" href="class_robot_subsystem.html#a76b7fadef83febf4ac9193d4892930c4">~RobotSubsystem</a>();</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;                </div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;                <span class="keywordtype">void</span> <a class="code" href="class_robot_subsystem.html#a2ed521eac330d9892c5efcd801ac3474">Stop</a>();</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="code" href="class_robot_subsystem_1_1_action.html">   44</a></span>&#160;                <span class="keyword">class </span><a class="code" href="class_robot_subsystem_1_1_action.html">Action</a></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                {</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;                        <span class="keyword">public</span>:</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                                <a class="code" href="class_robot_subsystem_1_1_action.html#a12b049545405093662c1aa3b9d274324">Action</a>(<span class="keyword">const</span> <a class="code" href="class_robot_subsystem.html">RobotSubsystem</a> *subsystem, <span class="keywordtype">bool</span> takeSemaphore = <span class="keyword">true</span>);</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;                                <a class="code" href="class_robot_subsystem_1_1_action.html#a6f1994bf7656d03640965d9634ae187f">~Action</a>();</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;                                ReentrantSemaphore *m_semaphorePtr;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                };</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;                </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_robot_subsystem.html#a7066b5d072b9ff707aabad9c46fcdc55">HandlePeriodic</a>();</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_robot_subsystem.html#a5e7a5b4382c3c6e8c0ead39f8fbed87d">HandleAwake</a>();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_robot_subsystem.html#a27e1d6644dbf38a6a056abafa08980e8">HandleStop</a>() = 0;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;                </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                <span class="keywordtype">bool</span> GetIsAwake() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;                <span class="keywordtype">void</span> <a class="code" href="class_robot_subsystem.html#ab307ef887a2a864004b407379aefbbe6">Awake</a>();</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                <span class="keywordtype">void</span> <a class="code" href="class_robot_subsystem.html#a20f2f77ab45ba583b019a786baa2d402">Sleep</a>();</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keyword">private</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                <span class="keyword">mutable</span> ReentrantSemaphore m_semaphore;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;};</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;<span class="preprocessor">#endif // #ifndef ROBOTSUBSYSTEM_H </span></div>
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